// MIT License

// Copyright (c) 2019 Erin Catto

// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to deal
// in the Software without restriction, including without limitation the rights
// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
// copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:

// The above copyright notice and this permission notice shall be included in all
// copies or substantial portions of the Software.

// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
// SOFTWARE.

#include "test.h"

class BodyTypes : public Test
{
public:
  BodyTypes()
  {
    b2Body* ground = NULL;
    {
      b2BodyDef bd;
      ground = m_world->CreateBody(&bd);

      b2EdgeShape shape;
      shape.SetTwoSided(b2Vec2(-20.0f, 0.0f), b2Vec2(20.0f, 0.0f));

      b2FixtureDef fd;
      fd.shape = &shape;

      ground->CreateFixture(&fd);
    }

    // Define attachment
    {
      b2BodyDef bd;
      bd.type = b2_dynamicBody;
      bd.position.Set(0.0f, 3.0f);
      m_attachment = m_world->CreateBody(&bd);

      b2PolygonShape shape;
      shape.SetAsBox(0.5f, 2.0f);
      m_attachment->CreateFixture(&shape, 2.0f);
    }

    // Define platform
    {
      b2BodyDef bd;
      bd.type = b2_dynamicBody;
      bd.position.Set(-4.0f, 5.0f);
      m_platform = m_world->CreateBody(&bd);

      b2PolygonShape shape;
      shape.SetAsBox(0.5f, 4.0f, b2Vec2(4.0f, 0.0f), 0.5f * b2_pi);

      b2FixtureDef fd;
      fd.shape = &shape;
      fd.friction = 0.6f;
      fd.density = 2.0f;
      m_platform->CreateFixture(&fd);

      b2RevoluteJointDef rjd;
      rjd.Initialize(m_attachment, m_platform, b2Vec2(0.0f, 5.0f));
      rjd.maxMotorTorque = 50.0f;
      rjd.enableMotor = true;
      m_world->CreateJoint(&rjd);

      b2PrismaticJointDef pjd;
      pjd.Initialize(ground, m_platform, b2Vec2(0.0f, 5.0f), b2Vec2(1.0f, 0.0f));

      pjd.maxMotorForce = 1000.0f;
      pjd.enableMotor = true;
      pjd.lowerTranslation = -10.0f;
      pjd.upperTranslation = 10.0f;
      pjd.enableLimit = true;

      m_world->CreateJoint(&pjd);

      m_speed = 3.0f;
    }

    // Create a payload
    {
      b2BodyDef bd;
      bd.type = b2_dynamicBody;
      bd.position.Set(0.0f, 8.0f);
      b2Body* body = m_world->CreateBody(&bd);

      b2PolygonShape shape;
      shape.SetAsBox(0.75f, 0.75f);

      b2FixtureDef fd;
      fd.shape = &shape;
      fd.friction = 0.6f;
      fd.density = 2.0f;

      body->CreateFixture(&fd);
    }
  }

  void Keyboard(int key) override
  {
    switch (key)
    {
    case GLFW_KEY_D:
      m_platform->SetType(b2_dynamicBody);
      break;

    case GLFW_KEY_S:
      m_platform->SetType(b2_staticBody);
      break;

    case GLFW_KEY_K:
      m_platform->SetType(b2_kinematicBody);
      m_platform->SetLinearVelocity(b2Vec2(-m_speed, 0.0f));
      m_platform->SetAngularVelocity(0.0f);
      break;
    }
  }

  void Step(Settings& settings) override
  {
    // Drive the kinematic body.
    if (m_platform->GetType() == b2_kinematicBody)
    {
      b2Vec2 p = m_platform->GetTransform().p;
      b2Vec2 v = m_platform->GetLinearVelocity();

      if ((p.x < -10.0f && v.x < 0.0f) ||
        (p.x > 10.0f && v.x > 0.0f))
      {
        v.x = -v.x;
        m_platform->SetLinearVelocity(v);
      }
    }

    Test::Step(settings);

    g_debugDraw.DrawString(5, m_textLine, "Keys: (d) dynamic, (s) static, (k) kinematic");
    m_textLine += m_textIncrement;
  }

  static Test* Create()
  {
    return new BodyTypes;
  }

  b2Body* m_attachment;
  b2Body* m_platform;
  float m_speed;
};

static int testIndex = RegisterTest("Examples", "Body Types", BodyTypes::Create);
